CN108420577A - A kind of hand function rehabilitation equipment based on patient's active consciousness control - Google Patents
A kind of hand function rehabilitation equipment based on patient's active consciousness control Download PDFInfo
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- CN108420577A CN108420577A CN201810231875.0A CN201810231875A CN108420577A CN 108420577 A CN108420577 A CN 108420577A CN 201810231875 A CN201810231875 A CN 201810231875A CN 108420577 A CN108420577 A CN 108420577A
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- 210000004556 brain Anatomy 0.000 claims abstract description 55
- 210000003813 thumb Anatomy 0.000 claims abstract description 48
- 238000002567 electromyography Methods 0.000 claims abstract description 23
- 230000005611 electricity Effects 0.000 claims abstract description 19
- 210000003811 finger Anatomy 0.000 claims abstract description 18
- 239000002184 metal Substances 0.000 claims abstract description 7
- 230000003993 interaction Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000005868 electrolysis reaction Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 14
- 230000006870 function Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000008092 positive effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 210000001259 mesencephalon Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of hand function rehabilitation equipments based on patient's active consciousness control, including wearable exoskeleton rehabilitation hand, myoelectricity control rehabilitation subsystem and brain electric control rehabilitation subsystem；The wearable exoskeleton rehabilitation hand includes palm set, control box, motor, supporting rack, driving wheel, the first axis pin, drive rod, the second axis pin, four finger drive rods, third axis pin, first connecting rod, the 4th axis pin, support shaft, the 5th axis pin, the 6th axis pin, second connecting rod, the 7th axis pin, thumb drives bar, sliding block and thumb supporting block；The myoelectricity control rehabilitation subsystem includes myoelectricity decoder module, electromyography signal line, myoelectricity collecting device and metal electrode film；The brain electric control rehabilitation subsystem includes brain electricity decoder module, EEG signals line, brain wave acquisition equipment and electrode for encephalograms.The equipment can be realized autonomous type rehabilitation training, improve patient hand's functional rehabilitation effect convenient for wearing by acquiring, decoding the myoelectricity or EEG signals of patient.
Description
Technical field
The present invention relates to medical rehabilitation technical field of auxiliary equipment more particularly to a kind of based on patient's active consciousness control
Hand function rehabilitation equipment.
Background technology
The object and tool that human hand can capture, operational shape is different, be in human motion system most important organ it
One.Cerebral apoplexy is commonly called as apoplexy, and a variety of nervous function damages are caused to patient, be cause hand function impaired one it is main because
Element.Under normal conditions, apoplexy is often unlikely to lethal, in survivor, has 80~90% people that can leave upper limb or lower limb
Motor function defect even hemiplegia influence patients ' life quality to lose daily life active ability.In hand function health
Initial stage is practiced in refreshment, and patient can not also carry out initiative rehabilitation movement, hand rehabilitation training equipment is needed to assist its hand continuously passive
Movement, but there is presently no ripe equipment, and patient to be helped to carry out the rehabilitation training of active, is especially a lack of through patient actively
Consciousness, i.e., help the equipment for carrying out rehabilitation training by patient's myoelectricity or EEG signals.
Therefore, those skilled in the art is dedicated to developing a kind of hand function rehabilitation based on patient's active consciousness control
Equipment obtains patient's positive action and is intended to, realize patient's autonomous type health by acquiring, decoding the myoelectricity or EEG signals of patient
Refreshment is practiced, and patient hand's functional rehabilitation effect is improved.
Invention content
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention include two aspects：First, using
What kind of mechanical structure is freely movable so that hand function rehabilitation equipment is worn convenient for patient；Second is that using what kind of technology and
Component is so that the equipment can be intended to, in fact by the myoelectricity or EEG signals of acquisition patient to obtain patient's positive action
Existing patient's autonomous type rehabilitation training.
To achieve the above object, the present invention provides a kind of hand function rehabilitations based on patient's active consciousness control to set
It is standby, including wearable exoskeleton rehabilitation hand, myoelectricity control rehabilitation subsystem and brain electric control rehabilitation subsystem；
The myoelectricity control rehabilitation subsystem includes myoelectricity decoder module, electromyography signal line, myoelectricity collecting device and metal
Electrode slice；
The brain electric control rehabilitation subsystem includes brain electricity decoder module, EEG signals line, brain wave acquisition equipment and brain electricity
Electrode；
The wearable exoskeleton rehabilitation hand includes palm set, control box, motor, supporting rack, driving wheel, the first axis pin, drives
Lever, the second axis pin, four refer to drive rods, third axis pin, first connecting rod, the 4th axis pin, support shaft, the 5th axis pin, the 6th axis pin,
Second connecting rod, the 7th axis pin, thumb drives bar, sliding block and thumb supporting block；The control box is fixedly arranged in the palm set, described
Supporting rack is fixedly arranged in the control box, and the 4th axis pin is fixed on support frame as described above, and support frame as described above is equipped with motor
Mounting hole and circular hole, motor are fixedly arranged at by the motor installing hole on support frame as described above, and the driving wheel is fixedly arranged at the electricity
On the output shaft of machine, first axis pin is fixed on the driving wheel；The four fingers drive rod is set in the 4th axis pin
On, described four, which refer to drive rod, is equipped with four finger fingerstall, and second axis pin and the third axis pin are fixed in described four and refer to drive
In lever；Described drive rod one end is set on first axis pin, and the other end is set on second axis pin；The support
Axle sleeve is located in the circular hole of support frame as described above, and the sliding block is set in the support shaft, and the 5th axis pin is fixed in described
On sliding block, the thumb supporting block is fixed in the support the tip of the axis, and the 7th axis pin is fixed in thumb supporting block；Institute
It states first connecting rod one end to be set on the third axis pin, the other end is set on the 5th axis pin；The thumb drives bar
It is set on the 7th axis pin, the thumb drives bar is equipped with thumb stall, and the 6th axis pin is fixed in the thumb
On drive rod, described second connecting rod one end is set on the 5th axis pin, and the other end is set on the 6th axis pin；
When the hand function rehabilitation equipment based on patient's active consciousness control is configured to operate in myoelectricity controlling party
When formula, the wearable exoskeleton rehabilitation hand controls rehabilitation subsystem communication with the myoelectricity and cooperates；It is based on when described
When the hand function rehabilitation equipment of patient's active consciousness control is configured to operate in brain electric control mode, the wearable dermoskeleton
Bone rehabilitation hand and the brain electric control rehabilitation subsystem communication simultaneously cooperate.
Further, the driving wheel, the drive rod, described four refer to drive rod and support frame as described above four bar machines of composition
Structure；Described four, which refer to drive rod, support frame as described above, the first connecting rod, the sliding block and the support shaft, forms four bar sliding block machines
Structure；The sliding block, the second connecting rod, the thumb drives bar, the thumb supporting block and the support shaft form four bars and slide
Block mechanism.
Further, the wearable exoskeleton rehabilitation hand is worn on by the palm set on patient's palm, and patient four refers to
It is set in described four to refer in fingerstall, thumb is set in the thumb stall.
Further, power supply, motor control module and data interaction module are equipped in the control box.
Further, the first power supply, electromyography signal processing chip, the first memory core are equipped in the myoelectricity decoder module
Piece, the first wirelessly transferred chip and the first peripheral circuit.
Further, the myoelectricity collecting device acquires patient forearm by the metal electrode film and filtering and amplifying circuit
Electromyography signal, one end of the electromyography signal line connects the myoelectricity collecting device, powers to the myoelectricity collecting device, institute
The other end for stating electromyography signal line connects the myoelectricity decoder module, and the electromyography signal is transmitted to the myoelectricity decoder module.
Further, the myoelectricity decoder module is communicated with the data interaction module by wireless transmission method,
The data interaction module receives the director data that the myoelectricity decoder module is sent.
Further, second source, EEG Processing chip, the second memory core are equipped in the brain electricity decoder module
Piece, the second wirelessly transferred chip and the second peripheral circuit.
Further, the brain wave acquisition equipment obtains the EEG signals of patient's cortex, institute by the electrode for encephalograms
The one end for stating EEG signals line connects the brain wave acquisition equipment, powers to the brain wave acquisition equipment, the EEG signals line
The other end connect the brain electricity decoder module, to EEG signals described in brain electrolysis code module transfer.
Further, the brain electricity decoder module is communicated with the data interaction module by wireless transmission method,
The data interaction module receives the director data that the brain electricity decoder module is sent.
Compared with prior art, advantageous effects of the invention include following two aspect：
(1) wearable exoskeleton rehabilitation hand of the invention is compact-sized, is worn convenient for patient, and activity is freely, comfortably
Sense is strong；
(2) myoelectricity or EEG signals of the invention by acquiring, decoding patient obtains patient's positive action and is intended to, realize
Patient's autonomous type rehabilitation training improves patient hand's functional rehabilitation effect；Exercise aid device is can also be used as, patient master is passed through
Dynamic consciousness completes daily grasp motion.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 be the present invention a preferred embodiment in wearable exoskeleton rehabilitation hand main structure diagram；
Fig. 2 be the present invention a preferred embodiment in myoelectricity control rehabilitation subsystem composed structure schematic diagram；
Fig. 3 is the composed structure schematic diagram of the preferred embodiment midbrain electric control rehabilitation subsystem of the present invention；
Fig. 4 be the present invention a preferred embodiment in wearable exoskeleton rehabilitation hand detailed composed structure schematic diagram；
Fig. 5 be the present invention a preferred embodiment in wearable exoskeleton rehabilitation hand seized condition schematic diagram.
Wherein, 1-wearable exoskeleton rehabilitation hand, 200-myoelectricities control rehabilitation subsystem, 300-brain electric control rehabilitations
Subsystem, 2-myoelectricity decoder modules, 3-electromyography signal lines, 4-myoelectricity collecting devices, 5-metal electrode films, the electrolysis of 6-brains
Code module, 7-EEG signals lines, 8-brain wave acquisition equipment, 9-electrode for encephalograms, 10-palm sets, 11-control box, 12-electricity
Machine, 13-supporting racks, 14-motor installing holes, 15-driving wheels, the 16-the first axis pin, 17-drive rods, the 18-the second axis pin,
19-four finger drive rods, 20-four finger fingerstall, 21-third axis pins, 22-first connecting rods, the 23-the four axis pin, 24-circular holes,
25-support shafts, the 26-the five axis pin, the 27-the six axis pin, 28-second connecting rods, the 29-the seven axis pin, 30-thumb drives
Bar, 31-thumb stalls, 32-sliding blocks, 33-thumb supporting blocks.
Specific implementation mode
Multiple preferred embodiments that the present invention is introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.In order to keep diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
As shown in Figure 1, Figure 2 and Figure 3, a kind of hand function rehabilitation based on patient's active consciousness control provided by the invention
Equipment includes wearable exoskeleton rehabilitation hand 1, myoelectricity control rehabilitation subsystem 200 and brain electric control rehabilitation subsystem 300.This hair
There are two types of working methods for a kind of hand function rehabilitation equipment based on patient's active consciousness control of bright offer --- and myoelectricity controls
Mode and brain electric control mode.Under myoelectricity control mode, patient controls rehabilitation using wearable exoskeleton rehabilitation hand 1 and myoelectricity
Subsystem 200 carries out rehabilitation training.Under brain electric control mode, patient is automatically controlled using wearable exoskeleton rehabilitation hand 1 and brain
Rehabilitation subsystem 300 processed carries out rehabilitation training.
As shown in figure 4, wearable exoskeleton rehabilitation hand 1 can drive patient hand complete grasp motion, including palm set 10,
Control box 11, motor 12, supporting rack 13, driving wheel 15, the first axis pin 16, drive rod 17, the second axis pin 18, four refer to drive rod
19, third axis pin 21, first connecting rod 22, the 4th axis pin 23, support shaft 25, the 5th axis pin 26, the 6th axis pin 27, second connecting rod
28, the 7th axis pin 29, thumb drives bar 30, sliding block 32 and thumb supporting block 33.Control box 11 is fixedly arranged in palm set 10, supporting rack
13 are fixedly arranged on 11 boxes of control, and the 4th axis pin 23 is fixed on supporting rack 13, and supporting rack 13 is equipped with motor installing hole 14 and circle
Hole 24, motor 12 are fixedly arranged at by motor installing hole 14 on supporting rack 13, and driving wheel 15 is fixedly arranged on 12 output shaft of motor, and first
Axis pin 16 is fixed on driving wheel 15.Four finger drive rods 19 are set on the 4th axis pin 23, and four, which refer to drive rod 19, is equipped with four fingers
Fingerstall 20, the second axis pin 18 and third axis pin 21 are fixed on four finger drive rods 19.17 one end of drive rod is set in the first pin
On axis 16, the other end is set on the second axis pin 18.Support shaft 25 is set in the circular hole 24 of supporting rack 13, and sliding block 32 is set in
In support shaft 25, the 5th axis pin 26 is fixed on sliding block 32, and thumb supporting block 33 is fixed in 25 end of support shaft, the 7th axis pin 29
It is fixed in thumb supporting block 33.22 one end of first connecting rod is set on third axis pin 21, and the other end is set in the 5th axis pin 26
On.Thumb drives bar 30 is set on the 7th axis pin 29, and thumb drives bar 30 is equipped with thumb stall 31, and the 6th 27 sets of axis pin is solid
On thumb drives bar 30.28 one end of second connecting rod is set on the 5th axis pin 26, and the other end is set on the 6th axis pin 27.It wears
It wears formula exoskeleton rehabilitation hand 1 to be worn on patient's palm by palm set 10, four fingerstall of patient is located in four finger fingerstall 20, thumbstall
It is located in thumb stall 31.
In wearable exoskeleton rehabilitation hand 1,17 both ends of drive rod can refer to drive rod 19 with respect to driving wheel 15 and four respectively
Rotation.Driving wheel 15, drive rod 17, four refer to drive rod 19 and supporting rack 13 forms four-bar mechanism.Four refer to drive rod 19 can be opposite
Supporting rack 13 rotates, and 22 one end of first connecting rod opposite four can refer to drive rods 19 and rotate, the other end can the rotation of opposing slider 32, sliding block
32 can slide along support shaft 25.Four, which refer to drive rod 19, supporting rack 13, first connecting rod 22, sliding block 32 and support shaft 25, forms four bars
Slide block mechanism.Thumb drives bar 30 can be rotated relative to thumb supporting block 33, and 28 both ends of second connecting rod can distinguish 32 He of opposing slider
Thumb drives bar 30 rotates.Sliding block 32, second connecting rod 28, thumb drives bar 30, thumb supporting block 33 and the composition of support shaft 25 four
Bar slide block mechanism.
As shown in Fig. 2, myoelectricity control rehabilitation subsystem 200 is adopted including myoelectricity decoder module 2, electromyography signal line 3 and myoelectricity
Collect equipment 4.The first power supply, electromyography signal processing chip, the first memory chip, the first wireless biography are equipped in myoelectricity decoder module 2
Defeated chip and the first peripheral circuit.Myoelectricity collecting device 4 acquires patient forearm's by metal electrode film 5 and filtering and amplifying circuit
Electromyography signal.One end connection myoelectricity collecting device 4 of electromyography signal line 3 is powered for it, and the other end of electromyography signal line 3 connects flesh
Electric decoder module 2 transmits collected electromyography signal to it.
As shown in figure 3, brain electric control rehabilitation subsystem 300 is adopted including brain electricity decoder module 6, EEG signals line 7 and brain electricity
Collect equipment 8.Second source, EEG Processing chip, the second memory chip, the second wireless biography are equipped in brain electricity decoder module 6
Defeated chip and the second peripheral circuit.Brain wave acquisition equipment 8 obtains the electric signal of patient's cortex by electrode for encephalograms 9.Brain telecommunications
One end connection brain wave acquisition equipment 8 of number line 7 is powered for it, the other end connection brain electricity decoder module 6 to its of EEG signals line 7
Transmit collected EEG signals.
When in use, selection uses myoelectricity control mode or brain electric control mode as needed first.
According to myoelectricity control mode, it is meant that carry out initiative rehabilitation training or daily grasping using electromyography signal, then
Wearable exoskeleton rehabilitation hand 1 is worn on by palm set 10 on patient's palm, four fingerstall of patient is located in four finger fingerstall 20, thumb
Fingerstall is located in thumb stall 31, and myoelectricity control rehabilitation subsystem 200 is worn on patient forearm position.In this myoelectricity control
Under working method processed, myoelectricity collecting device 4 acquires the electromyography signal at patient forearm position and passes through electromyography signal line 3 and transmits in real time
To myoelectricity decoder module 2, myoelectricity decoder module 2 is digitized electromyography signal processing successively, data windowing process, feature carry
Processing and pattern classification is taken to handle, the action for decoding patient is intended to and generates movement instruction, while the movement of generation being referred to
Enable the control box 11 that wearable exoskeleton rehabilitation hand 1 is sent to by wireless transmission method.Equipped with power supply, motor in control box 11
Control module and data interaction module, the data interaction module in control box 11 receive the movement that myoelectricity decoder module 2 is sent and refer to
It enables, and then is rotated by the motor control module in control box 11 to control motor 12, control wearable exoskeleton rehabilitation hand 1 and transport
It is dynamic, to help patient to carry out initiative rehabilitation training or complete daily grasp motion.
According to brain electric control mode, it is meant that carry out initiative rehabilitation training or daily grasping using EEG signals, then
Wearable exoskeleton rehabilitation hand 1 is worn on by palm set 10 on patient's palm, four fingerstall of patient is located in four finger fingerstall 20, thumb
Fingerstall is located in thumb stall 31, and brain electric control rehabilitation subsystem 300 is worn on to the head of patient.In this brain electric control
Under working method, brain wave acquisition equipment 8 is worn on patients head, and brain wave acquisition equipment 8 can acquire cortex electric signal in real time
And brain electricity decoder module 6 is transmitted to by EEG signals line 7, brain electricity decoder module 6 is digitized EEG signals at place successively
Reason, data windowing process, feature extraction processing and pattern classification processing, the action for decoding patient are intended to and generate movement to refer to
It enables, while the movement instruction of generation being sent to the control box 11 of wearable exoskeleton rehabilitation hand 1 by wireless transmission method.Control
Power supply, motor control module and data interaction module are housed, the data interaction module in control box 11 receives brain electricity in box 11 processed
The movement instruction that decoder module 6 is sent, and then rotated by the motor control module in control box 11 to control motor 12, control is worn
The movement of formula exoskeleton rehabilitation hand 1 is worn, to help patient to carry out initiative rehabilitation training or complete daily grasp motion.
Either under myoelectricity control mode or brain electric control mode, the operating principle of wearable exoskeleton rehabilitation hand 1
It is just the same.It is the original state of wearable exoskeleton rehabilitation hand 1 as shown in Figure 1, four finger drive rods 19 are in straight configuration.Such as
Fig. 5 show the seized condition of wearable exoskeleton rehabilitation hand 1.As shown in Figure 4 and Figure 5, it is opened when motor 12 receives control command
When beginning to rotate, driving wheel 15 is rotated with 12 output shaft of motor, and then passes through driving wheel 15, the finger drive rod 19 of drive rod 17, four
It drives four finger drive rods 19 and patient four to refer to the four-bar mechanism that supporting rack 13 forms to move together, four refer to what drive rod 19 moved
Refer to the four bar slide block mechanism bands that drive rod 19, supporting rack 13, first connecting rod 22, sliding block 32 and support shaft 25 form by four simultaneously
Movable slider 32 is moved along support shaft 25, and then passes through sliding block 32, second connecting rod 28, thumb drives bar 30, thumb supporting block 33
The four bar slide block mechanisms formed with support shaft 25 make thumb drives bar 30 be rotated relative to thumb supporting block 33, realize patient's the five fingers
Rehabilitation training grasps object with the five fingers.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of hand function rehabilitation equipment based on patient's active consciousness control, which is characterized in that including wearable ectoskeleton
Rehabilitation hand, myoelectricity control rehabilitation subsystem and brain electric control rehabilitation subsystem；
The myoelectricity control rehabilitation subsystem includes myoelectricity decoder module, electromyography signal line, myoelectricity collecting device and metal electrode
Piece；
The brain electric control rehabilitation subsystem includes brain electricity decoder module, EEG signals line, brain wave acquisition equipment and electrode for encephalograms；
The wearable exoskeleton rehabilitation hand include palm set, control box, motor, supporting rack, driving wheel, the first axis pin, drive rod,
Second axis pin, four refer to drive rod, third axis pin, first connecting rod, the 4th axis pin, support shaft, the 5th axis pin, the 6th axis pin, second
Connecting rod, the 7th axis pin, thumb drives bar, sliding block and thumb supporting block；The control box is fixedly arranged in the palm set, the support
Frame is fixedly arranged in the control box, and the 4th axis pin is fixed on support frame as described above, and support frame as described above is installed equipped with motor
Hole and circular hole, motor are fixedly arranged at by the motor installing hole on support frame as described above, and the driving wheel is fixedly arranged at the motor
On output shaft, first axis pin is fixed on the driving wheel；The four fingers drive rod is set on the 4th axis pin, institute
It states four finger drive rods and refers to fingerstall equipped with four, second axis pin and the third axis pin are fixed in described four and refer to drive rod
On；Described drive rod one end is set on first axis pin, and the other end is set on second axis pin；The support sleeve
It is located in the circular hole of support frame as described above, the sliding block is set in the support shaft, and the 5th axis pin is fixed in the sliding block
On, the thumb supporting block is fixed in the support the tip of the axis, and the 7th axis pin is fixed in thumb supporting block；Described
One connecting rod one end is set on the third axis pin, and the other end is set on the 5th axis pin；The thumb drives rod set is set
On the 7th axis pin, the thumb drives bar is equipped with thumb stall, and the 6th axis pin is fixed in the thumb drives
On bar, described second connecting rod one end is set on the 5th axis pin, and the other end is set on the 6th axis pin；
When the hand function rehabilitation equipment based on patient's active consciousness control is configured to operate in myoelectricity control mode,
The wearable exoskeleton rehabilitation hand controls rehabilitation subsystem communication with the myoelectricity and cooperates；It is based on patient master when described
When the hand function rehabilitation equipment of dynamic consciousness control is configured to operate in brain electric control mode, the wearable exoskeleton rehabilitation
Hand and the brain electric control rehabilitation subsystem communication simultaneously cooperate.
2. the hand function rehabilitation equipment based on patient's active consciousness control as described in claim 1, which is characterized in that described
Driving wheel, the drive rod, described four refer to drive rod and support frame as described above composition four-bar mechanism；Described four refer to drive rod, described
Supporting rack, the first connecting rod, the sliding block and the support shaft form four bar slide block mechanisms；The sliding block, described second connect
Bar, the thumb drives bar, the thumb supporting block and the support shaft form four bar slide block mechanisms.
3. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 2, which is characterized in that described
Wearable exoskeleton rehabilitation hand is worn on by the palm set on patient's palm, and four fingerstall of patient is located at described four and refers in fingerstall,
Thumb is set in the thumb stall.
4. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 3, which is characterized in that described
Power supply, motor control module and data interaction module are equipped in control box.
5. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 4, which is characterized in that described
The first power supply, electromyography signal processing chip, the first memory chip, the first wirelessly transferred chip and the are equipped in myoelectricity decoder module
One peripheral circuit.
6. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 5, which is characterized in that described
Myoelectricity collecting device acquires the electromyography signal of patient forearm, the myoelectricity letter by the metal electrode film and filtering and amplifying circuit
One end of number line connects the myoelectricity collecting device, powers to the myoelectricity collecting device, the other end of the electromyography signal line
The myoelectricity decoder module is connected, the electromyography signal is transmitted to the myoelectricity decoder module.
7. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 6, which is characterized in that described
Myoelectricity decoder module is communicated with the data interaction module by wireless transmission method, and the data interaction module receives institute
State the director data that myoelectricity decoder module is sent.
8. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 4, which is characterized in that described
Second source, EEG Processing chip, the second memory chip, the second wirelessly transferred chip and the are equipped in brain electricity decoder module
Two peripheral circuits.
9. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 8, which is characterized in that described
Brain wave acquisition equipment obtains the EEG signals of patient's cortex, one end connection of the EEG signals line by the electrode for encephalograms
The brain wave acquisition equipment is powered to the brain wave acquisition equipment, and the other end of the EEG signals line connects the brain electrolysis
Code module, to EEG signals described in brain electrolysis code module transfer.
10. the hand function rehabilitation equipment based on patient's active consciousness control as claimed in claim 9, which is characterized in that institute
It states brain electricity decoder module to be communicated by wireless transmission method with the data interaction module, the data interaction module receives
The director data that the brain electricity decoder module is sent.
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| CN112515915A (en) * | 2020-11-30 | 2021-03-19 | 重庆电子工程职业学院 | Wearable finger rehabilitation robot |
| CN112656636A (en) * | 2019-10-15 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation device and control method thereof |
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